Abstract
The safety of the magnetic levitation (maglev) train is closely related to the control performance of the suspension module. However, during operation, the working conditions vary and are vulnerable to the external disturbances. In this work, a large-scale variation of the inductance of the magnetic levitation operation under different air gap conditions is considered, where the transfer function of the system changes nonlinearly. On the basis of the classical feedback linearization method, the algorithm of the first-order derivative for a single equilibrium point is improved, and then a multiequilibrium point feedback linearization method subject to the variation of the inductance is derived. The proposed linearization method can decouple the inductance from the air gap dynamics in any state of levitation, thus, reducing the model error. Using a general linear controller, the closed-loop control performance of the nonlinear hybrid excitation suspension system is run in MATLAB®. The simulation results show that the proposed method achieves good dynamic performance under various operating conditions and it improves the robust performance of the system.
Highlights
For urban low-speed magnetic levitation traffic, the hybrid excitation suspension electromagnet combines the permanent magnet excitation and the electric excitation and is connected in series in the magnetic circuit to generate a control voltage with a varying amplitude and direction through the winding to realize the magnetic circuit
In [13], a Takagi-Sugeno (T-S) fuzzy controller based on the improved form of the piecewise Lyapunov function is used to relax the stability condition of the model, and the proposed method is combined with the Parallel Distributed Compensation (PDC) controller to stabilize the position of the magnetic ball in the magnetic suspension system under the disturbance
The results show that the improved feedback linearization method can reproduce better frequency domain characteristics of the original nonlinear system
Summary
For urban low-speed magnetic levitation traffic, the hybrid excitation suspension electromagnet combines the permanent magnet excitation and the electric excitation and is connected in series in the magnetic circuit to generate a control voltage with a varying amplitude and direction through the winding to realize the magnetic circuit. In [13], a Takagi-Sugeno (T-S) fuzzy controller based on the improved form of the piecewise Lyapunov function is used to relax the stability condition of the model, and the proposed method is combined with the Parallel Distributed Compensation (PDC) controller to stabilize the position of the magnetic ball in the magnetic suspension system under the disturbance This technology ensures that the system is robust, the disturbance tolerance is maximized, the performance is improved, and the H∞ performance metrics γ is reduced. Combining the linearization method proposed in this paper and the fundamental linear PID controller, the closed-loop control of the hybrid excitation suspension system is studied and verified through the MATLAB5 simulation In this simulation, the commands of levitation, square wave follower, and sudden load are given, and the common drift system parameter drift is simulated to investigate and compare the dynamic performance under different commands of each system. The simulation results demonstrate the effectiveness of the proposed linearization method
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